Rosbridge

.gitignore

@@ -7,6 +7,7 @@ dist/
 build/
 out/
 apps/desktop-app/release/
+Projects/
 *.tsbuildinfo
 
 # Logs
@@ -29,4 +30,4 @@ pnpm-lock.yaml
 # Secrets / environment
 .env
 *.env
-apps/desktop-app/.env
+apps/desktop-app/.env

Projects/hello_ros/docker-compose.yml

@@ -1,9 +1,11 @@
 services:
-  bros_helloros:
-    image: ros:humble
-    container_name: bros_helloros
+  bros2_helloros:
+    image: bros2/ros2-humble:latest
+    container_name: bros2_helloros
     command: bash -lc "sleep infinity"
     working_dir: /workspace
     tty: true
     volumes:
-      - "/Users/trieutran/BROS2/Projects/hello_ros/workspace:/workspace"
+      - "/Users/noahhathout/BROS2/Projects/hello_ros/workspace:/workspace"
+    ports:
+      - "9090:9090"

README.md

@@ -1,4 +1,4 @@
-<p align="left">
+<p align="center">
   <img src="assets/logos/BROS2-logo-long.png" alt="BROS2 logo" width="440">
 </p>
 
@@ -23,6 +23,51 @@ Verify Docker access before continuing:
 docker ps
 ```
 
+## Quick Dev Loop
+
+1. Select Node 20.19.x
+
+   ```bash
+   source ~/.nvm/nvm.sh
+   nvm use 20.19.0
+   ```
+
+2. Refresh deps (clean if things feel stale):
+
+   ```bash
+   pnpm install -r
+   pnpm -r clean   # optional, only if builds seem out of date
+   ```
+
+   If you did clean, run the workspace builds in the Daily Development section (step 3) before moving on below.
+
+3. Build the ROS image once per machine (safe to rerun):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app ros:build-image
+   ```
+
+4. Regenerate the Electron main + preload bundle (needed after a clean):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app build:main
+   ```
+
+5. Launch the desktop dev stack (Electron main + Vite renderer):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app dev
+   ```
+
+6. In Electron DevTools, bring up ROS 2 + rosbridge when you need it:
+
+   ```js
+   await window.runner.up("hello_ros");
+   await window.runner.exec('bash -lc "source /opt/ros/humble/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"');
+   ```
+
+Skip to the sections below for the full workflow details and tests.
+
 ## First-Time Setup
 
 ```bash
@@ -48,13 +93,13 @@ It launches the packaged app once everything compiles. If the script adds an `nv
    nvm use 20.19.0
    ```
 
-2. **Refresh dependencies** after pulling changes:
+2. **Refresh dependencies** after pulling changes (rerun `pnpm -r clean` first if builds look stale):
 
    ```bash
    pnpm install -r
    ```
 
-3. **Build the workspace libraries** so their `.d.ts` files exist for the Electron main process. Run each filter separately from the repo root (brace expansion is not supported):
+3. **Build the workspace libraries** (run this after changing any of these packages so their `.d.ts` files stay fresh for Electron main):
 
    ```bash
    pnpm --filter @bros2/runtime build
@@ -64,8 +109,14 @@ It launches the packaged app once everything compiles. If the script adds an `nv
    pnpm --filter @bros2/runner build
    ```
 
-4. **Emit the desktop main + preload bundle** (run from the repo root).  
-   _Do not skip this step after running `pnpm -r clean`; it regenerates the preload bridges and the runtime registry that power `window.runtime`._
+4. **Keep the ROS runner image up to date** (once per machine, rerun after touching `packages/services/runner/images/ros2-humble`):
+
+   ```bash
+   pnpm --filter ./apps/desktop-app ros:build-image
+   ```
+
+5. **Emit the desktop main + preload bundle** (run from the repo root).  
+_Do not skip this step after running `pnpm -r clean`; it regenerates the preload bridges and the runtime registry that power `window.runtime`._
 
    ```bash
    pnpm --filter ./apps/desktop-app build:main
@@ -77,7 +128,7 @@ It launches the packaged app once everything compiles. If the script adds an `nv
    pnpm --filter ./apps/desktop-app build:renderer
    ```
 
-5. **Start the dev environment** (Electron main + Vite renderer):
+6. **Start the dev environment** (Electron main + Vite renderer):
 
    ```bash
    pnpm --filter ./apps/desktop-app dev
@@ -116,7 +167,7 @@ await window.runner.exec("ros2 pkg list | head -n 5");
 await window.runner.down();
 ```
 
-This spins up the `bros_hello_ros` container defined in `Projects/hello_ros` and exercises the ROS 2 CLI.
+This spins up the `bros2_hello_ros` container defined in `Projects/hello_ros` and exercises the ROS 2 CLI.
 
 ### IR build + validation example
 
@@ -153,6 +204,21 @@ window.runtime.list(); // ["ArrowKeyPub_1", "ConsoleSub_1"]
 
 If `window.runtime` is missing, run `pnpm --filter ./apps/desktop-app build:main` again to regenerate the preload bridges.
 
+### API cheatsheet (DevTools)
+
+- `window.runner.up(projectName)` – start/update the Docker container `bros2_<projectName>` backed by `bros2/ros2-humble:latest`.
+- `window.runner.exec(command)` – run commands like `ros2 topic list` or launching rosbridge:
+
+  ```js
+  await window.runner.exec('bash -lc "source /opt/ros/humble/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"');
+  ```
+
+- `window.runner.down()` – stop/remove the ROS 2 container.
+- `window.runtime.create(type, config)` – instantiate nodes registered in `apps/desktop-app/src/renderer/runtime/registry.ts` (`ArrowKeyPub`, `ConsoleSub`, `RosbridgeBridge`, `Forwarder`).
+- `window.runtime.start(id)`, `window.runtime.stop(id)`, `window.runtime.stopAll()` – control renderer-runtime nodes.
+- `window.ir.build(...)` / `window.ir.validate(...)` – convert block graphs to IR and run validators.
+- `globalThis.__rosbridge__` – dev-only handle populated by `RosbridgeBridge` with helpers like `publishRos(topic, msg)`.
+
 ## Cleaning & Full Rebuild
 
 1. Remove build outputs everywhere (this clears `dist/` folders and `tsconfig.main.tsbuildinfo`, ensuring the desktop main bundle re-emits `dist/main.js`):
@@ -184,7 +250,10 @@ If `window.runtime` is missing, run `pnpm --filter ./apps/desktop-app build:main
    pnpm -r build
    ```
 
-   You may ignore macOS code-sign warnings on local development machines.
+## Supporting docs
+
+- [`apps/desktop-app/README.md`](apps/desktop-app/README.md) – ROS 2 quickstart snippet, DevTools walkthrough, and desktop-specific scripts.
+- [`packages/services/runner/images/ros2-humble/README.md`](packages/services/runner/images/ros2-humble/README.md) – maintenance notes for the Docker image used by `window.runner`.
 
 ## Tips
 - Keep Docker running whenever you use `window.runner.*`; the runner manages containers in `Projects/`.

apps/desktop-app/README.md

@@ -0,0 +1,11 @@
+# BROS2 Desktop
+
+## ROS2 Quickstart (Dev)
+
+Build the local ROS 2 image once before launching the desktop app:
+
+```bash
+pnpm --filter ./apps/desktop-app ros:build-image
+```
+
+After the app is running (`pnpm -r build` then `pnpm --filter ./apps/desktop-app dev`), open DevTools and execute the runner/runtime snippet from the acceptance checklist to spin up `window.runner`, create a `RosbridgeBridge`, start `ArrowKeyPub`, add a `Forwarder`, and interact with ROS 2 topics.

apps/desktop-app/package.json

@@ -14,12 +14,14 @@
     "build:renderer": "vite build --config src/renderer/vite.config.ts",
     "start": "cross-env NODE_ENV=production electron ./dist/main.js",
     "clean": "rimraf dist release tsconfig.main.tsbuildinfo",
+    "ros:build-image": "docker build -t bros2/ros2-humble:latest ../../packages/services/runner/images/ros2-humble",
     "typecheck": "pnpm tsc -b tsconfig.main.json && pnpm tsc --noEmit -p tsconfig.renderer.json",
     "postinstall": "electron-builder install-app-deps"
   },
   "build": {
     "appId": "com.bros2.desktop",
     "productName": "BROS2 Desktop",
+    "icon": "../../assets/logos/bros-logo-icon.ico",
     "directories": {
       "output": "release"
     },
@@ -29,6 +31,16 @@
       "package.json"
     ],
     "asar": true,
+    "extraResources": [
+      {
+        "from": "../../assets/logos/bros-logo-icon.ico",
+        "to": "bros-logo-icon.ico"
+      },
+      {
+        "from": "../../assets/logos/BROS2-logo.PNG",
+        "to": "BROS2-logo.PNG"
+      }
+    ],
     "mac": {
       "category": "public.app-category.developer-tools",
       "target": [
@@ -60,6 +72,7 @@
     "cross-env": "^10.1.0",
     "electron": "^39.0.0",
     "electron-builder": "^26.0.12",
+    "electron-devtools-installer": "^4.0.0",
     "rimraf": "^6.0.1",
     "ts-node": "^10.9.2",
     "typescript": "^5.6.3",
@@ -71,6 +84,7 @@
     "@bros2/shared": "workspace:*",
     "@bros2/ui": "workspace:*",
     "@bros2/validation": "workspace:*",
+    "@xyflow/react": "^12.9.3",
     "bootstrap": "^5.3.8",
     "dotenv": "^17.2.3",
     "express": "^5.1.0",